Championship side Oxford United beat League Two's MK Dons on penalties after their match ended 1-1, while a couple of League One teams moved on, with Wigan Athletic beating Championship side Preston North End 1-0, and Port Vale defeating League Two's Fleetwood Town 1-0.
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A bemused Jose Mourinho described Chelsea's performance as unacceptable and a disgrace after the Premier League leaders slumped to a 4-2 home defeat against third-tier Bradford City in the FA Cup fourth round on Saturday.
FA Cup added another incredible chapter to its proud heritage on Saturday as Chelsea and Manchester City were humbled by supposed inferiors.